Preparation of Papers for IFAC Conferences & Symposia: Kalman Filter Based Control of Inverted Pendulum System

Stabilization problem of inverted pendulum system is one of the challenging issues to the researchers. To stabilize this unstable inverted pendulum system, linear quadratic regulator (LQR) controller has been designed along with the Kalman filter. Kalman filter estimates the state variables of the system and LQR controller takes these estimated state variables as inputs. The performance of this proposed controller has been tested for both stabilization and tracking problem of inverted pendulum system. Both the stabilization and tracking responses of the closed-loop system satisfies the required performance specifications. The responses of the closed loop system with Kalman filter and without Kalman filter also have been compared. Kalman filter based closed-loop system eliminates the effects of process and sensor noises that are present in the outputs of the system. The performance of this proposed controller is also compared with LMI based robust controller that had been earlier designed for the same system.